diff options
Diffstat (limited to 'tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_q15.c')
-rw-r--r-- | tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_q15.c | 122 |
1 files changed, 122 insertions, 0 deletions
diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_q15.c b/tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_q15.c new file mode 100644 index 000000000..8f293f6e3 --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_q15.c @@ -0,0 +1,122 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010-2013 ARM Limited. All rights reserved. +* +* $Date: 17. January 2013 +* $Revision: V1.4.1 +* +* Project: CMSIS DSP Library +* Title: arm_pid_init_q15.c +* +* Description: Q15 PID Control initialization function +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* - Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* - Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in +* the documentation and/or other materials provided with the +* distribution. +* - Neither the name of ARM LIMITED nor the names of its contributors +* may be used to endorse or promote products derived from this +* software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + + /** + * @addtogroup PID + * @{ + */ + +/** + * @details + * @param[in,out] *S points to an instance of the Q15 PID structure. + * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state. + * @return none. + * \par Description: + * \par + * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n + * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code> + * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd) + * also sets the state variables to all zeros. + */ + +void arm_pid_init_q15( + arm_pid_instance_q15 * S, + int32_t resetStateFlag) +{ + +#ifndef ARM_MATH_CM0_FAMILY + + /* Run the below code for Cortex-M4 and Cortex-M3 */ + + /* Derived coefficient A0 */ + S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd); + + /* Derived coefficients and pack into A1 */ + +#ifndef ARM_MATH_BIG_ENDIAN + + S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16); + +#else + + S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16); + +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* Check whether state needs reset or not */ + if(resetStateFlag) + { + /* Clear the state buffer. The size will be always 3 samples */ + memset(S->state, 0, 3u * sizeof(q15_t)); + } + +#else + + /* Run the below code for Cortex-M0 */ + + q31_t temp; /*to store the sum */ + + /* Derived coefficient A0 */ + temp = S->Kp + S->Ki + S->Kd; + S->A0 = (q15_t) __SSAT(temp, 16); + + /* Derived coefficients and pack into A1 */ + temp = -(S->Kd + S->Kd + S->Kp); + S->A1 = (q15_t) __SSAT(temp, 16); + S->A2 = S->Kd; + + + + /* Check whether state needs reset or not */ + if(resetStateFlag) + { + /* Clear the state buffer. The size will be always 3 samples */ + memset(S->state, 0, 3u * sizeof(q15_t)); + } + +#endif /* #ifndef ARM_MATH_CM0_FAMILY */ + +} + +/** + * @} end of PID group + */ |